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<div class="title">base_unary_edge.h</div>  </div>
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<a href="base__unary__edge_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_BASE_UNARY_EDGE_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_BASE_UNARY_EDGE_H</span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a01fcdfd2d3ed0325655bb99db95c0b10">   29</a></span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;cassert&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="base__edge_8h.html">base_edge.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="robust__kernel_8h.html">robust_kernel.h</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;../../config.h&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a4c5ec31144a266fb059b73b2387456c1">   38</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> E, <span class="keyword">typename</span> VertexXi&gt;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html">   43</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_base_unary_edge.html">BaseUnaryEdge</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D,E&gt;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#ad7e6dc44c571be159f066bdb961ade2b">   44</a></span>&#160;  {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a4e584cf552998a34948d8d5b484f7fd3">   46</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> Dimension = <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D, E&gt;::Dimension</a>;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#ab953b076b4c35fcf99de02bd0bfcc1ae">   47</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">BaseEdge&lt;D,E&gt;::Measurement</a> <a class="code" href="classg2o_1_1_base_unary_edge.html#ab953b076b4c35fcf99de02bd0bfcc1ae">Measurement</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a503e62e74775172c008135650850d511">   48</a></span>&#160;      <span class="keyword">typedef</span> VertexXi <a class="code" href="classg2o_1_1_base_unary_edge.html#a503e62e74775172c008135650850d511">VertexXiType</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">   49</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Matrix&lt;double, D, VertexXiType::Dimension&gt;::AlignedMapType <a class="code" href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">JacobianXiOplusType</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#abc04cfacb65fc72825156f1b3346dd48">   50</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">BaseEdge&lt;D,E&gt;::ErrorVector</a> <a class="code" href="classg2o_1_1_base_unary_edge.html#abc04cfacb65fc72825156f1b3346dd48">ErrorVector</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a6753caa95c30fa5bb3887e2a30892ff3">   51</a></span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">BaseEdge&lt;D,E&gt;::InformationType</a> <a class="code" href="classg2o_1_1_base_unary_edge.html#a6753caa95c30fa5bb3887e2a30892ff3">InformationType</a>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a7375d1ebfb57ba0308f863739b817b15">   53</a></span>&#160;      <a class="code" href="classg2o_1_1_base_unary_edge.html#a7375d1ebfb57ba0308f863739b817b15">BaseUnaryEdge</a>() : <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge</a>&lt;D,E&gt;(),</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        _jacobianOplusXi(0, D, VertexXiType::Dimension)</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        _vertices.<a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html#ad8913f1149a0fd5bb628f0f1c8a91a55">resize</a>(1);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> resize(<span class="keywordtype">size_t</span> size);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> allVerticesFixed() <span class="keyword">const</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus(<a class="code" href="classg2o_1_1_jacobian_workspace.html">JacobianWorkspace</a>&amp; jacobianWorkspace);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus();</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a396fbab83bfc9ce2e2080b16ccc357f4">   72</a></span>&#160;      <span class="keyword">const</span> JacobianXiOplusType&amp; <a class="code" href="classg2o_1_1_base_unary_edge.html#a396fbab83bfc9ce2e2080b16ccc357f4">jacobianOplusXi</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _jacobianOplusXi;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> constructQuadraticForm();</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a8b396647b5b438d30a04758023baa595">   76</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> initialEstimate(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp; from, <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* to);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a919dcb89130f6e7082e807530facdd78">   78</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_unary_edge.html#a919dcb89130f6e7082e807530facdd78">mapHessianMemory</a>(<span class="keywordtype">double</span>*, <span class="keywordtype">int</span>, <span class="keywordtype">int</span>, <span class="keywordtype">bool</span>) {assert(0 &amp;&amp; <span class="stringliteral">&quot;BaseUnaryEdge does not map memory of the Hessian&quot;</span>);}</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::resize</a>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::computeError</a>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#a367f19b903938faf6e89dd1b0e4e722b">   83</a></span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_measurement</a>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_information</a>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_error</a>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_vertices</a>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classg2o_1_1_base_edge.html">BaseEdge&lt;D,E&gt;::_dimension</a>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_unary_edge.html#af7d022a6c6c9c29dfd9147fce0dc13d8">   90</a></span>&#160;      JacobianXiOplusType <a class="code" href="classg2o_1_1_base_unary_edge.html#af7d022a6c6c9c29dfd9147fce0dc13d8">_jacobianOplusXi</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  };</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="base__unary__edge_8hpp.html">base_unary_edge.hpp</a>&quot;</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_base_edge_html_a2c148abba650a20b8c7eed75d3e2211e"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a2c148abba650a20b8c7eed75d3e2211e">g2o::BaseEdge::Measurement</a></div><div class="ttdeci">E Measurement</div><div class="ttdef"><b>Definition:</b> base_edge.h:47</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="robust__kernel_8h_html"><div class="ttname"><a href="robust__kernel_8h.html">robust_kernel.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_abc04cfacb65fc72825156f1b3346dd48"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#abc04cfacb65fc72825156f1b3346dd48">g2o::BaseUnaryEdge::ErrorVector</a></div><div class="ttdeci">BaseEdge&lt; D, E &gt;::ErrorVector ErrorVector</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:50</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_a7375d1ebfb57ba0308f863739b817b15"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#a7375d1ebfb57ba0308f863739b817b15">g2o::BaseUnaryEdge::BaseUnaryEdge</a></div><div class="ttdeci">BaseUnaryEdge()</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:53</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_a919dcb89130f6e7082e807530facdd78"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#a919dcb89130f6e7082e807530facdd78">g2o::BaseUnaryEdge::mapHessianMemory</a></div><div class="ttdeci">virtual void mapHessianMemory(double *, int, int, bool)</div><div class="ttdoc">maps the internal matrix to some external memory location, you need to provide the memory before call...</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:78</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_a24bcabd661223e15b7337f2835310f5e"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#a24bcabd661223e15b7337f2835310f5e">g2o::BaseUnaryEdge::JacobianXiOplusType</a></div><div class="ttdeci">Matrix&lt; double, D, VertexXiType::Dimension &gt;::AlignedMapType JacobianXiOplusType</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:49</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html"><div class="ttname"><a href="classg2o_1_1_base_edge.html">g2o::BaseEdge</a></div><div class="ttdef"><b>Definition:</b> base_edge.h:42</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="base__edge_8h_html"><div class="ttname"><a href="base__edge_8h.html">base_edge.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_ab953b076b4c35fcf99de02bd0bfcc1ae"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#ab953b076b4c35fcf99de02bd0bfcc1ae">g2o::BaseUnaryEdge::Measurement</a></div><div class="ttdeci">BaseEdge&lt; D, E &gt;::Measurement Measurement</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:47</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_a396fbab83bfc9ce2e2080b16ccc357f4"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#a396fbab83bfc9ce2e2080b16ccc357f4">g2o::BaseUnaryEdge::jacobianOplusXi</a></div><div class="ttdeci">const JacobianXiOplusType &amp; jacobianOplusXi() const</div><div class="ttdoc">returns the result of the linearization in the manifold space for the node xi </div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:72</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_a2e5a33343ac3f189d8a7d5ee4d8b73fc"><div class="ttname"><a href="classg2o_1_1_base_edge.html#a2e5a33343ac3f189d8a7d5ee4d8b73fc">g2o::BaseEdge::InformationType</a></div><div class="ttdeci">Matrix&lt; double, D, D &gt; InformationType</div><div class="ttdef"><b>Definition:</b> base_edge.h:49</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html_ad8913f1149a0fd5bb628f0f1c8a91a55"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html#ad8913f1149a0fd5bb628f0f1c8a91a55">g2o::HyperGraph::Edge::resize</a></div><div class="ttdeci">virtual void resize(size_t size)</div><div class="ttdoc">resizes the number of vertices connected by this edge </div><div class="ttdef"><b>Definition:</b> hyper_graph.cpp:50</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_af7d022a6c6c9c29dfd9147fce0dc13d8"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#af7d022a6c6c9c29dfd9147fce0dc13d8">g2o::BaseUnaryEdge::_jacobianOplusXi</a></div><div class="ttdeci">JacobianXiOplusType _jacobianOplusXi</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:90</div></div>
<div class="ttc" id="base__unary__edge_8hpp_html"><div class="ttname"><a href="base__unary__edge_8hpp.html">base_unary_edge.hpp</a></div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html">g2o::BaseUnaryEdge</a></div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:43</div></div>
<div class="ttc" id="classg2o_1_1_base_edge_html_af5b558dd24e4be2e437563cae4b3550d"><div class="ttname"><a href="classg2o_1_1_base_edge.html#af5b558dd24e4be2e437563cae4b3550d">g2o::BaseEdge::ErrorVector</a></div><div class="ttdeci">Matrix&lt; double, D, 1 &gt; ErrorVector</div><div class="ttdef"><b>Definition:</b> base_edge.h:48</div></div>
<div class="ttc" id="classg2o_1_1_jacobian_workspace_html"><div class="ttname"><a href="classg2o_1_1_jacobian_workspace.html">g2o::JacobianWorkspace</a></div><div class="ttdoc">provide memory workspace for computing the Jacobians </div><div class="ttdef"><b>Definition:</b> jacobian_workspace.h:50</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_a6753caa95c30fa5bb3887e2a30892ff3"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#a6753caa95c30fa5bb3887e2a30892ff3">g2o::BaseUnaryEdge::InformationType</a></div><div class="ttdeci">BaseEdge&lt; D, E &gt;::InformationType InformationType</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:51</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html_a503e62e74775172c008135650850d511"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html#a503e62e74775172c008135650850d511">g2o::BaseUnaryEdge::VertexXiType</a></div><div class="ttdeci">VertexXi VertexXiType</div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:48</div></div>
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